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  Path planning for mine countermeasuresUSPTO Application #: 20070038366Title: Path planning for mine countermeasures Abstract: A means for mine avoidance that enables a battle group commander to rapidly detect, classify, and identify mines, and form a tactical picture of mined areas. The system is enabled by a graphical user interface which generates a display of the minefield and an avoidance path which is calculated by a rapidly-explored random trees algorithm interacting with algorithms defining avoidance object spaces inserted by an operator in two or three dimensions and transit vehicle characteristics. The apparatus enables a method which establishes the parameters of an area representing a minefield. The area is then populated with obstacle spaces whose areas are functions of the probability of the existence of a mine and through which an avoidance route through the minefield may not pass. The start and end points of the avoidance route are entered on a graphic display of the minefield and an avoidance path there between is calculated and presented as an avoidance route. (end of abstract) Agent: The Johns Hopkins Universityapplied Physics Labora Office Of Patent Counsel - Laurel, MD, US Inventors: Christopher B. McCubbin, Christine D. Piatko, Steven J. Marshall, Jessica L. Pistole, Cheryl L. Resch, Paul McNamee USPTO Applicaton #: 20070038366 - Class: 701202000 (USPTO) Related Patent Categories: Data Processing: Vehicles, Navigation, And Relative Location, Navigation, Determination Of Travel Data Based On The Start Point And Destination Point, Route Pre-planning The Patent Description & Claims data below is from USPTO Patent Application 20070038366. Brief Patent Description - Full Patent Description - Patent Application Claims
CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application claims the benefit of prior filed co-pending U.S. application No. 60/553,521, filed on Mar. 16, 2004. BACKGROUND OF THE INVENTION [0003] Battle group commanders have a need to develop low risk paths through minefields and evaluate alternative route options. To satisfy this need, they require planning aids which will develop paths that balance the utility and risk associated with different routes. They need tools for minefield transit planning which integrate path risk, path time, and dynamic and kinematic concerns. FIELD OF THE INVENTION [0004] The present invention relates to applications of path planning algorithms for quantitatively evaluating potential paths through minefields. DISCUSSION OF THE RELATED ART [0005] Attempts have been made to solve problems similar to those faced by commanders needing to pass through a minefield but they have not addressed the specific problems associated with such a transit. For instance, H. Duvoisin, III, et al, in U.S. Pat. No. 5,835,901 for "Perceptive System Including a Neural Network", issued Nov. 10, 1998, teaches the use of a target location and classification system for mines in a minefield but fails to suggest an avoidance system. [0006] U.S. Pat. No. 5,999,881 issued to C. Law, et al, for "Automated Path Planning" on Dec. 7, 1999, presents a path planning method which considers avoidance of a plurality of obstacles, but the patent is not concerned with mines or the problems inherent in the transition of a minefield by a battle group. [0007] Route planning is addressed by P. Galkowski, et al, in U.S. Pat. No. 6,259,988 for "Real-Time Mission Adaptable Route Planner," issued Jul. 10, 2001, but it is concerned with fixed navigational obstacles, not a dynamic situation involving a minefield. It employs a grid based route optimization method for determining the most economical path between two fixed points while the present need requires an ability to chart a path between dynamic points. OBJECTIVES OF THE INVENTION [0008] The primary objective of the invention is to provide a means for mine avoidance that enables a battle group commander to rapidly detect, classify, and identify mines, and form a tactical picture of mined areas. [0009] Another objective is to integrate algorithms defining avoidance object space in two and three dimensions with transit vehicle characteristics algorithms for quantitatively evaluating potential paths through minefields. [0010] A further objective is to integrate path planning Rapidly-explored Random Trees algorithms with algorithms defining avoidance object space in three dimensions. [0011] A still further objective is to integrate path planning Rapidly-explored Random Trees algorithms with algorithms defining avoidance object space in two dimensions. [0012] Another objective is to integrate path planning Rapidly-explored Random Trees algorithms with algorithms defining vehicle characteristics for quantitatively evaluating potential paths through minefields. [0013] A further objective is to provide path planning techniques to develop paths that balance the utility and risk associated with different routes through a minefield. [0014] Another objective is to integrate path risk, path time, and dynamic and kinematic concerns to plan paths through minefields. SUMMARY OF THE INVENTION [0015] A method and apparatus for developing potential routes through a minefield and assessing risk and economy factors for each route is provided by a group of interacting algorithms having inputs and final solution outputs provided by a graphic user interface. The preferred embodiment of the present invention combines Rapidly-explored Random Trees algorithms with algorithms defining avoidance object space in at least two dimensions and transit vehicle characteristics algorithms. [0016] The software system consists of four separate programs, 1) a general path planner for all of the executive interfacing of outside systems with planning algorithms and store a consistent world-view database which is updated by outside systems and used by system planning algorithms, 2) a path planning algorithm for the mines domain, 3) a Rapidly-explored Random Trees, RRT, package which contains several closely related algorithms for producing avoidance plans, and 4) the GUI program which drives a graphical user interface and provides input to and output from the general path planner program. [0017] The hardware is comprised of computing means using a Java SKD 1.4 platform to run and integrate the software programs and a graphical user interface, GUI. BRIEF DESCRIPTION OF THE DRAWINGS [0018] FIG. 1 is a block diagram of the general path planner. Continue reading... Full patent description for Path planning for mine countermeasures Brief Patent Description - Full Patent Description - Patent Application Claims Click on the above for other options relating to this Path planning for mine countermeasures patent application. ###  How KEYWORD MONITOR works... a FREE service from FreshPatents1. Sign up (takes 30 seconds). 2. Fill in the keywords to be monitored. 3. Each week you receive an email with patent applications related to your keywords. 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